diff --git a/jsk_pcl_ros_utils/CMakeLists.txt b/jsk_pcl_ros_utils/CMakeLists.txt
index 231dda1b06..e9eb0eff92 100644
--- a/jsk_pcl_ros_utils/CMakeLists.txt
+++ b/jsk_pcl_ros_utils/CMakeLists.txt
@@ -223,7 +223,7 @@ jsk_pcl_util_nodelet(src/marker_array_voxel_to_pointcloud_nodelet.cpp
 add_library(jsk_pcl_ros_utils SHARED ${jsk_pcl_util_nodelet_sources})
 add_dependencies(jsk_pcl_ros_utils ${PROJECT_NAME}_gencfg)
 target_link_libraries(jsk_pcl_ros_utils
-  ${catkin_LIBRARIES} ${pcl_ros_LIBRARIES} ${OpenCV_LIBRARIES} yaml-cpp)
+  ${catkin_LIBRARIES} ${pcl_ros_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} yaml-cpp)
 
 get_property(dirs DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES)
 
diff --git a/jsk_pcl_ros_utils/src/normal_flip_to_frame_nodelet.cpp b/jsk_pcl_ros_utils/src/normal_flip_to_frame_nodelet.cpp
index 77309bb8cb..36a59b2f88 100644
--- a/jsk_pcl_ros_utils/src/normal_flip_to_frame_nodelet.cpp
+++ b/jsk_pcl_ros_utils/src/normal_flip_to_frame_nodelet.cpp
@@ -64,6 +64,11 @@ namespace jsk_pcl_ros_utils
     sub_.shutdown();
   }
 
+// pcl removed the method by 1.13, no harm in defining it ourselves to use below
+#if __cplusplus >= 201103L
+#define pcl_isfinite(x) std::isfinite(x)
+#endif
+
   void NormalFlipToFrame::flip(const sensor_msgs::PointCloud2::ConstPtr& cloud_msg)
   {
     vital_checker_->poke();
diff --git a/jsk_pcl_ros_utils/src/pointcloud_to_pcd_nodelet.cpp b/jsk_pcl_ros_utils/src/pointcloud_to_pcd_nodelet.cpp
index fe9be68586..e123b5057c 100644
--- a/jsk_pcl_ros_utils/src/pointcloud_to_pcd_nodelet.cpp
+++ b/jsk_pcl_ros_utils/src/pointcloud_to_pcd_nodelet.cpp
@@ -60,7 +60,7 @@ namespace jsk_pcl_ros_utils
 
   void PointCloudToPCD::savePCD()
   {
-    pcl::PCLPointCloud2::ConstPtr cloud;
+    boost::shared_ptr<const pcl::PCLPointCloud2> cloud;
     cloud = ros::topic::waitForMessage<pcl::PCLPointCloud2>("input", *pnh_);
     if ((cloud->width * cloud->height) == 0)
     {
diff --git a/jsk_recognition_msgs/CMakeLists.txt b/jsk_recognition_msgs/CMakeLists.txt
index 86e6164943..1fba71e003 100644
--- a/jsk_recognition_msgs/CMakeLists.txt
+++ b/jsk_recognition_msgs/CMakeLists.txt
@@ -2,9 +2,6 @@ cmake_minimum_required(VERSION 2.8.3)
 project(jsk_recognition_msgs)
 find_package(catkin REQUIRED
   std_msgs sensor_msgs geometry_msgs message_generation pcl_msgs jsk_footstep_msgs)
-if(NOT $ENV{ROS_DISTRO} STREQUAL "indigo") # on noetic it needs catkin_install_python to support Python3 and it does not work on indigo for some reason...
-  catkin_python_setup()
-endif()
 add_message_files(
   FILES
   Accuracy.msg
diff --git a/jsk_recognition_msgs/setup.py b/jsk_recognition_msgs/setup.py
deleted file mode 100644
index 90f8d8be68..0000000000
--- a/jsk_recognition_msgs/setup.py
+++ /dev/null
@@ -1,17 +0,0 @@
-#!/usr/bin/env python
-
-from setuptools import setup
-
-from setuptools import find_packages
-from catkin_pkg.python_setup import generate_distutils_setup
-
-d = generate_distutils_setup(
-    # Uncomment until src/jsk_recognition_msgs
-    # error: package directory 'jsk_recognition_msgs' does not exist
-    # [jsk_recognition_msgs:install]
-    # packages=['jsk_recognition_msgs'],
-    # [jsk_recognition_msgs:install] error: package directory 'src/jsk_recognition_msgs' does not exist
-    # package_dir={'': 'src'},
-)
-
-setup(**d)